Abstract

A hierarchical neurocontroller architecture consisting of two artificial neural network systems for the manipulation of a robotic arm is presented. The higher-level neural system participates in the delineation of the robot arm workspace and coordinates transformation and the motion decision-making process. The lower one provides the correct sequence of control actions. The capabilities, including speed, adaptability, and computational efficiency, of the developed architecture are illustrated by an example.

Meeting Name

1991 IEEE International Conference on Robotics and Automation, 1991

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Adaptability; Artificial Neural Network Systems; Computational Efficiency; Control Actions Sequence; Delineation; Hierarchical Neurocontroller Architecture; Hierarchical Systems; Higher-Level Neural System; Intelligent Robotic Manipulation; Motion Decision-Making Process; Neural Nets; Position Control; Robots; Speed; Transformation; Workspace

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type

text

Language(s)

English

Rights

© 1991 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

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